Livox support
fratopa opened this issue · 5 comments
What feature are you suggesting?
Support for Livox sensors
Overview:
Do you have any plans to support Livox sensors?
I would be particularly interested in the new mid-360.
Smaller Details:
Some work has already been done by the manufacturer itself but it is integrated in Gazebo only. Other groups have ported this work for the Carla simulator which runs on unreal engine just like airsim.
Nature of Request:
- Addition
Why would this feature be useful?
I believe this addition could prove useful since Livox sensors have been used more and more in UAVs
Hey @fratopa,
Thanks for putting this out there, I wasn't aware of Livox. I'm not as familiar with solid state LiDAR but is the current LiDAR sensor not able to emulate this sensor?
We are working on integrated hardware emulation so you could choose, for example, Livox 360 as the LiDAR profile. I know that the LiDAR sensor also doesn't emulate refractive spectral noise, which is a challenge in processing.
If that is of interest, let me know and we will push that up the list.
Also AirSim will be archived soon and isn't supported by Microsoft anymore
Hi! and thank you for the prompt reply!
To my knowledge, the lidar plugin already present in airsim is not able to replicate the acquisition pattern of the Livox sensors. Referring to the documentation of airsim it appears that the basic idea behind the implementation is to have multiple scanlines acquiring points at different levels assuming a spinning Lidar sensor.
The livox family of sensors instead has a much more complex acquisition pattern which can confuse some SLAM algorithms. Simulating this acquisition pattern could allow for more reliable validation of the algorithms.
If you are interested in a more faithful integration of sensor noise in the lidar data there is a fork of airsim you may be interested in checking out.
I believe that the carla plugin I mentioned above still relies on some csv files provided by the manufacturer to generate the lidar pattern. I am in the process of reverse-engineering a similar file for the new mid-360. Once I get it to work I would be happy to share it on the repo if you get the plugin to work!
Ah, okay. Sounds good!
I will add this to the development list along with the links that you suggested!
Feel free to join our Slack channel as well: Slack
I'll leave this issue open and close it once we integrate this support.
Thank you very much for being open to the addition of this sensor! I'll check out the slack channel later. In the meantime, I will look more into the repo!
Hello, friends,
any news regarding adding Livox Avia lidar support?
@fratopa @xxEoD2242